#ifndef __PID_H
#define __PID_H

typedef struct
{
    float target_ccr;
    float previous_ccr;
    float Kp;
    float Ki;
    float Kd;
    float errork;
    float errork_1;
    float errork_2;
} PidStruct;



float cal_pid(PidStruct* pidstruct);
void MotoSpeed_Callback();

#endif